In a small mixing bowl; dissolve yeast in warm milk. In a large mixing bowl; cream together sugar and butter. Add eggs and yeast mixture. Blending well. Stir in salt and flour; mixing well.

On floured work surface; knead dough into a large ball. Return to mixing bowl. Cover and place in a warm area 1-1 ½ hours; until doubled in size. On floured work surface; roll dough out to ¼-inch thickness; approximately 20x16-inches. Set aside. Lightly grease a 9x13-inch baking pan. In a mixing bowl; beat together icing ingredients well until light and fluffy. Set aside. In a mixing bowl; combine brown sugar and cinnamon. Set aside. Spread softened butter over the surface of dough, sprinkle sugar mixture evenly over entire surface. Working carefully, from longer edge, roll dough jelly-roll style. Cut dough into 1 ¾-inch slices. Transfer into prepared baking pan. Cover; allow to rise 1 hour. Preheat oven to 400 degrees. Bake 10 minutes; until golden brown. Spread tops of rolls generously with icing.